/*
 * @file mmWaveLoader.cpp
 *
 * @brief
 * Creates the mmWave Manager node.
 *
 * \par
 * NOTE:
 * (C) Copyright 2019 Texas Instruments, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 *
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the
 * distribution.
 *
 * Neither the name of Texas Instruments Incorporated nor the names of
 * its contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */


// reference


#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "ti_mmwave_ros2_pkg/mmWaveCommSrv.hpp"
#include "ti_mmwave_ros2_pkg/mmWaveDataHdl.hpp"

int main(int argc, char **argv) {
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);

  rclcpp::init(argc, argv);

  rclcpp::executors::SingleThreadedExecutor exec;
  rclcpp::NodeOptions options;

  auto mm_wave_comm_srv =
      std::make_shared<ti_mmwave_ros2_pkg::mmWaveCommSrv>(options);
  exec.add_node(mm_wave_comm_srv);
  auto mm_wave_data_hdl =
      std::make_shared<ti_mmwave_ros2_pkg::mmWaveDataHdl>(options);
  exec.add_node(mm_wave_data_hdl);

  exec.spin();

  rclcpp::shutdown();

  return 0;
}
